Ultrasonic diagnosis apparatus for displaying the distribution of speed of movement of an internal part of a living body

ABSTRACT

An ultrasonic diagnosis apparatus comprises a probe means for transmitting an ultrasonic pulse beam toward an internal moving part of a living body and receiving the reflected wave therefrom, and a plurality of phasing circuits for simultaneously receiving and phasing the received signal in parallel in a plurality of channels. The received signals of plural channels are mixed with a set of complex reference signals having a complex relation therebetween, thereby converting the received signals into complex signals. Autocorrelators delay the complex signals computes the autocorrelation of the complex signals. Speed operators compute the speed of the internal moving part of the basis of the computed autocorrelation. The result of measurement of the distribution of the speed of the internal moving part is displayed on a display unit.

BACKGROUND OF THE INVENTION

This invention relates to an ultrasonic diagnosis apparatus, and more particularly to a novel technique which is effectively applicable to an ultrasonic diagnosis apparatus which accurately measures and displays the distribution of the moving speed of an internal part of a living body, together with the moving speed dispersion and reflected-wave intensity.

A prior art, ultrasonic diagnosis apparatus which can measure the moving speed of an internal moving part of a living body and display the moving speed distribution in a two-dimensional mode is disclosed in, for example, Japanese Unexamined Patent Publication No. 58-188433 (JP-A-58-188433) laid open on Nov. 2, 1983.

The invention of the cited patent publication employs a usual transmission/reception scheme such that the direction of reception of an ultrasonic beam transmitted from an ultrasonic probe is the same as the direction of transmission. By the use of such a scheme, the speed distribution of an internal moving part of a living body scanned by the ultrasonic beam is measured, and the point scanned by the ultrasonic beam is successively displaced very slightly to display a two-dimensional image of the speed distribution of the internal moving part of the living body on a display unit.

However, in order to improve the accuracy of measurement of the moving speed of the internal moving part of the living body, a multiplicity of transmission and reception approaches had to be made in the same direction of the living body. Further, due to a limited image completion time attributable to the velocity of the ultrasonic beam, the frame rate of the image displayed in real time has not necessarily been satisfactory. More specifically, a length of time of about 1.3μ sec is required for an ultrasonic beam to shuttle a distance of 1 mm in a living body. Therefore, a length of time of, for example, about 1.3×180μ sec is required for the ultrasonic wave to shuttle a distance of 180 mm. By the way, when the so-called ultrasonic Doppler effect is utilized to detect the speed and speed dispersion of a blood flow to acquire data required for diagnosis, the ultrasonic beam must be transmitted many times. Suppose, for example, that the ultrasonic beam is transmitted ten times in one direction for inspecting an object which is located at a depth of 180 mm. In such a case, a length of time of about 1.3×180×10μ sec is required. Suppose further that 50 scanning lines are required to complete one screen image. Then, an image completion time as long as about 1.3×180×10×50μ sec is required.

Further, there is a low-speed internal moving part such as, for example, the wall of the heart. The moving speed of such a moving part is considerably low compared with that of the blood flow which is the object of measurement, and the intensity of a wave reflected from such a low-speed moving part is very high compared with that from the blood flow. Thus, this low-speed moving part obstructs accurate measurement of the moving speed of the blood flow. Signal components reflected from such a low-speed moving part or a stationary part have frequencies more or less close to the transmission repetition frequency. Therefore, the aforementioned known method employing a one channel single-cancel complex signal canceller has been defective in that the signal components reflected from such a low-speed moving part or a stationary part cannot be sufficiently removed.

A scanning region of about 55°, a diagnosis depth of about 14 cm and the number of scanning lines of 32 are an example of display in a prior art, ultrasonic diagnosis apparatus capable of displaying a two-dimensional image of the distribution of the moving speed of an internal moving part of a living body. The image actually displayed on the display unit has a coarse density of scanning lines, i.e. a pattern similar to a broken umbrella as shown by a solid-line portion A on the right-hand half of FIG. 9. Especially, in the case of an image displaying the speed distribution of an internal moving part located at a large depth, the displayed image has a pattern similar to comb teeth. Therefore, the prior art apparatus has been defective in that the density of scanning lines is low or the resolution is poor.

SUMMARY OF THE INVENTION

It is a primary object of the present invention to provide an ultrasonic diagnosis apparatus capable of displaying a two-dimensional image of the distribution of the speed of an internal moving part of a living body, which eliminates the limitation of the image completion time attributable to the velocity of ultrasonic wave, which provides a scanning region, the number of scanning lines and a frame rate sufficient for providing data required for diagnosis, and which can measure even the speed of a low-speed blood flow component.

In accordance with the present invention, there is provided an ultrasonic diagnosis apparatus comprising: means for transmitting an ultrasonic pulse beam toward an internal moving part of a living body at a constant repetition frequency and receiving the reflected wave from the internal moving part of the living body; parallel receiving and phasing means for simultaneously receiving and phasing the received signal in parallel in a plurality of channels; converting means for mixing the received signals of plural channels with a set of complex reference signals having a frequency n times (n: an integer) as high as the constant repetition frequency of the transmitted ultrasonic pulse beam and having a complex relation therebetween, thereby converting the received signals into complex signals; autocorrelators for delaying the complex signals and computing the autocorrelation of the complex signals; speed operators for computing the speed of the internal moving part of the living body on the basis of the computed autocorrelation; and a display unit for displaying the result of measurement of the distribution of the speed of the internal moving part of the living body.

Thus, according to the present invention, a parallel reception scheme is employed so as to increase the frame rate of a displayed image. Further, by incorporation of a multi-channel, multiple-cancel complex signal canceller with feedback in the apparatus employing the parallel reception scheme, signal components attributable to a reflected wave from a low-speed moving part or a stationary part in a living body can be removed from the reflected ultrasonic signal, so that the required blood-flow signal component among reflected signal components from internal moving parts of the living body can be extracted with high accuracy.

Furthermore, by provision of a sensitivity correction circuit correcting the reception sensitivity of the parallel receiving and phasing means, a tomographic image of good quality almost free from disturbance and a speed distribution image of the internal moving part of the living body can be obtained.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram showing schematically the general structure of a preferred embodiment of the ultrasonic diagnosis apparatus according to the present invention;

FIG. 2 is a block diagram showing the detailed structure of the parallel receiving and phasing device shown in FIG. 1;

FIGS. 3 and 4 illustrate the principle of two different forms respectively of the parallel reception scheme employed in the present invention;

FIGS. 5 to 8 show examples of images displayed according to the parallel reception scheme described above;

FIG. 9 illustrates comparison between an image displayed according to a prior art reception scheme and an image displayed according to the parallel reception scheme employed in the embodiment of the present invention;

FIG. 10 is a block diagram showing the structure of a prior art, single cancel complex signal canceller;

FIG. 11 is a block diagram showing the structure of the double-cancel complex signal canceller with feedback, shown in FIG. 1;

FIG. 12 shows speed responses of the single-cancel complex signal canceller and the double-cancel complex signal canceller with feedback, when compared to that of an ideal complex signal canceller;

FIG. 13 shows frequency characteristics of inputs to the cancellers shown in FIGS. 10 and 11 when compared to that of an input to the ideal canceller;

FIG. 14 shows frequency characteristics of the single-cancel complex signal canceller, double-cancel complex signal canceller with feedback and ideal complex signal canceller when canceller input are as shown in FIG. 13;

FIG. 15 is a block diagram showing the detailed structure of the double-cancel complex signal canceller with feedback, shown in FIG. 11; and

FIG. 16 is a block diagram showing the structure of the 2-channel level difference correcting circuit which functions as a reception sensitivity correcting, arithmetic processing circuit.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring to FIG. 1 showing schematically the general structure of a preferred embodiment of the ultrasonic diagnosis apparatus according to the present invention, an ultrasonic probe 1 for transmitting and receiving an ultrasonic pulse beam is in the form of a transducer in which n strip-like vibrator elements #1 to #n are arrayed as shown in FIG. 2. The n elements #1 to #n constituting the probe 1 are connected to a changeover circuit 2.

This change-over circuit 2 sequentially selects k elements from among the n elements #1 to #n to connect the selected k elements to a transmitter pulser circuit 3A (P₁ to P₅) in a transmitter circuit 3 and to a receiver amplifier circuit 4A (R₁ to R₅). The transmitter pulser circuit 3A is connected to a transmitter phase control circuit 3B in the transmitter circuit 3, so that the transmitter circuit 3 generates a phase-controlled pulse output. On the other hand, the output of the receiver amplifier circuit 4A is applied to receiver phasing circuits (A) 4 and (B) 5. These receive phasing circuits (A) 4 and (B) 5 control the phase of a signal received by and applied from the individual vibrator elements so that the individual vibrator elements can operate with different reception directivities. The detail of such a parallel reception scheme employed in the present invention will be described later.

The outputs of the receiver phasing circuits (A) 4 and (B) 5 are applied to complex signal converters 100 and 101 respectively to be converted into complex signals. These complex signal converters 100 and 101 include a set of mixers 6 and 7 each including a phase detector and a set of mixers 8 and 9 each including a phase detector, respectively. In the individual mixers 6, 7 and 8, 9, the signals applied from the receiver phasing circuits (A) 4 and (B) 5 are mixed with complex reference signals 71 and 72 respectively. A crystal oscillator 10 generates a stable high-frequency signal, and this high-frequency output signal of the oscillator 10 is applied to a synchronizing circuit 11. The complex reference signal 71 is provided by the output signal of the synchronizing circuit 11 and has a frequency corresponding to the repetition frequency 70 of the ultrasonic pulse beam transmitted from the ultrasonic probe 1. The phase of the complex reference signal 71 is shifted by 90° by a phase shifter 12 to provide the other complex reference signal 72 which is used to provide information of the moving direction of, for example, blood flow. The mixers 6, 7, 8 and 9 generate complex signals corresponding to the received high-frequency signal. That is, the mixers 6, 7 and 8, 9 generate output signals having frequencies equal to the sum of and difference between the frequency of received high-frequency signal and that of the complex reference signals, respectively. The output signals of the mixers 6, 7, 8 and 9 are applied to low-pass filters 81, 82, 83 and 84 respectively so that unnecessary high-frequency components of the received signal are removed.

In the complex signal converters 100 and 101, the received signal demodulated by the mixers 6, 7, 8, 9 and then applied to the low-pass filters 81, 82, 83, 84 appear as signals which are expressed by the followiing expressions (1) and (2) respectively:

    cos 2π f.sub.d t                                        (1)

    sin 2π f.sub.d t                                        (2)

where f_(d) is a Doppler shift frequency.

Thus, the received signal is converted into complex signals including a real number part expressed by the expression (1) and an imaginary number part expressed by the expression (2), and these two signals can be expressed by the following complex expression (3):

    Z.sub.1 =cos 2π f.sub.d t+i sin 2π f.sub.d t         (3)

The signals Z₁ thus obtained as a result of the complex conversion are then converted into digital signals by A/D converters 85, 86, 87 and 88, and the digital output signals of the A/D converters 85, 86, 87 and 88 are then applied to double-cancel complex signal cancellers with feedback 102, 102', 103 and 103' respectively which are one form of multiple-cancel complex signal cancellers with feedback. A clock signal 73 is applied from the synchronizing circuit 11 to the A/D converters 85, 86, 87 and 88 so that sampling can be done with the timing of this clock signal 73.

The double-cancel complex signal cancellers with feedback 102, 102', 103' and 103 are provided so that reflected signal components from a low-speed internal moving part on a stationary internal part of the living body may not provide a serious obstruction to the measurement of the moving speed of an object of measurement, for example, blood flow. The detail of these cancellers 102, 102', 103 and 103' will be described later.

Autocorrelators 104 and 105 are provided so as to measure the distribution of the moving speed of the internal moving part of the living body on the basis of the complex signals of channels A and B each including the Doppler component extracted by the complex signal converters 100 and 101.

The structure of and the manner of computation by the autocorrelators 104 and 105 are described in detail in Japanese Unexamined Patent Publication No. 58-188433 cited already.

Outputs S and S' of the autocorrelators 104 and 105 are expressed as follows respectively:

    S=R+iI                                                     (4)

    S'=R'+iI'                                                  (5)

where R and R' are real-number components of the autocorrelator outputs, and I and I' are imaginary-number components of the autocorrelator outputs.

Angular displacements θ and θ' of the autocorrelator outputs S and S' are computed by speed operators 106 and 107 according to the following expressions (6) and (7) respectively:

    θ=tan.sup.-1 I/R=2π f.sub.d T                     (6)

    θ'=tan.sup.-1 I'/R' =2πf.sub.d ' T                (7)

where f_(d) and f_(d') are Doppler shift frequencies, and T is the repetition period of the transmitted ultrasonic pulse beam.

Therefore, the Doppler shift frequencies f_(d) and f_(d') can be very easily computed by the speed perators 106 and 107 on the basis of the angular displacements θ and θ' and according to the following expressions (8) and (9) respectively:

    f.sub.d =θ/2πT                                    (8)

    f.sub.d '=θ'/2πT                                  (9)

More precisely, since the transmission repetition period T is constant, the displacement angles θ and θ' are proportional to the Dopper shift frequencies f_(d) and f_(d'), hence, the speed of blood flow.

Also since the correlation components I, R, I' and R' are positive and negative respectively, the displacement angles θ and θ' can be measured within the angular range of ±π, so that the direction of the moving speed can be detected.

In order to compute the values of the displacement angles θ and θ' from the expressions (6) and (7) on the basis of the values of I, I', R and R', a table of the values of θ and θ' corresponding to those of I, I' and R, R' is previously stored in a read-only memory (ROM), and, on the basis of this table, the values of θ and θ' corresponding to the inputs I, I' and R, R' can be read out from the ROM and computed at a high speed.

In order to display a two-dimensional image of the moving speed distribution of the blood flow on a display unit 24 on the basis of the results of computation, an encoder 19 is provided to produce signals having levels corresponding to the results of computation.

If there are a reception sensitivity level difference and a noise difference between the channel-A receiver phasing circuit 4 and the channel-B receiver phasing circuit 5 in the parallel reception system, the image of the moving speed distribution of, for example, blood flow displayed on the display unit 24 may be disturbed depending on the direction of transmission and reception of the ultrasonic pulse beam. Actually, such a level difference and a noise difference exist.

A sensitivity correcting circuit 54 (referred to hereinafter as a 2-channel level difference correcting circuit) is provided so that such disturbance undesirable for the diagnosis may not occur in the blood-flow speed distribution image due to the reception sensitivity level difference and noise difference between the channel-A receiver phasing circuit 4 and the channel-B receiver phasing circuit 5. The structure of and the manner of computation by this 2-channel level difference correcting circuit 54 is described and illustrated in detail in the specification and drawings of Japanese Patent Application No. 59-255920 (1984).

The 2-channel level difference correcting circuit 54 makes computation according to the following experimental correlation expression (10) thereby correcting the level difference between the adjacent two channels A and B: ##EQU1## where M is a real number determined from the results of an experiment, D is a sensitivity-corrected encoded blood-flow signal, D_(n) is an encoded blood-flow signal detected at time t when blood-flow signals encoded according to the operation sequence (time series) of the vibrator elements receiving the ultrasonic pulse beam reflected from a certain depth of the living body are arranged in a rightward order, and D_(c) is an encoded blood-flow signal which is next adjacent to the signal D_(n) on the right-hand side.

The structure of one form of the 2-channel level difference correcting circuit 54 is shown in FIG. 16. Referring to FIG. 16, the 2-channel level difference correcting circuit 54 includes a first operator 60 for weighting encoded blood-flow signals E_(iA) and E_(iB) based on the ultrasonic pulse beam transmitted toward and into the living body and received at the same time in parallel relation, thereby producing an output E_(OB), a line memory 61 for storing, for example, the encoded blood-flow signal E_(iB) belonging to the channel B, and a second operator 62 for weighting the encoded blood-flow signal E_(iA) and the next adjacent blood-flow signal E_(iB) thereby producing an output E_(OA). The operators 60, 62 and the line memory 61 are controlled by the synchronizing circuit 11.

By the employment of the 2-channel level difference correcting circuit 54 having a structure as described with reference to FIG. 16, failure of proper exhibition of the luminance of a displayed image of the two-dimensional speed distribution of the internal moving part of the living body, attributable to the reception-sensitivity level difference and noise difference between the channel-A and channel-B receiver phasing circuits 4 and 5, can be eliminated, so that an image of good quality can be displayed.

Referring to FIG. 1 again, an image memory 20 stores the output signals E_(OA) and E_(OB) of the 2-channel level difference correcting circuit 54.

An address generator 21 generates address signals for writing and reading out data in and from the image memory 20. An D/A converter 22 converts a digital signal read out from the image memory 20 into an analog signal voltage (a luminance modulation signal), and this signal is applied through a change-over circuit 23 to the display unit 24 to display a moving-speed distribution image of B-mode or M-mode on the display unit 24.

In order to display an ultrasonic tomographic image of B-mode or M-mode in a usual manner, a detector circuit 50 is provided for detecting the 2-channel signals generated from the receiver phasing circuits 4 and 5 to which the reflected signal received by the ultrasonic probe 1 is applied after being amplified by the receiver amplifier 2. The output signals of the detector circuit 50 are converted by a multiplexer 13 into a time-series signal, and this time-series signal is converted by an A/D converter 14 into a digital signal which is applied to an encoder 19'. A second 2-channel level difference correcting circuit 55 connected to the output of the encoder 19' includes a first operator for weighting encoded signals based on the ultrasonic pulse beam transmitted toward and into the living body and received at the same time in parallel relation, and a second operator for weighting one of the simultaneously received signals and the next adjacent received signal, in order to obviate disturbance occurring on displayed image due to the reception-sensitivity level difference and noise difference between the channel-A and channel-B receiver phasing circuits 4 and 5. The structure of this 2-channel level difference correcting circuit 55 is the same as that of the circuit 54 shown in FIG. 16. The corrected output signals of the 2-channel level difference correcting circuit 55 are written in an image memory 20'. The digital signal read out from the image memory 20' is converted by a D/A converter 22' into an analog signal voltage (a luminance modulation signal), and this signal is applied to the display unit 24 through a change-over circuit 52. The usual tomographic image and the moving-speed distribution image can displayed selectively or in a superposed relation on the display unit 24 under control of a display conttrol circuit 53.

Color encoders may be used to replace the encoders 19 and 19'. In such a case, the received signal is decomposed into three primary color components R, G and B having levels corresponding to the result of computation of the speed, and a color cathode-ray tube is used in the display unit 24 to provide a color display of the image of the moving speed distribution of the internal moving part of the living body.

The parallel reception scheme employed in the present invention will now be described in detail.

According to one of methods for obtaining overall ultrasonic-wave transmission and reception directivities having a spacing narrower than that of ultrasonic vibrator elements by very slightly changing the directions of transmission and reception of ultrasonic wave, the utlrasonic wave is transmitted and received by different groups of ultrasonic vibrator elements having different transmission directivities and reception directivities, and directivities intermediate between the transmission directivities and the reception directivities are selected as overall directivities, as disclosed in, for example, Japanese Patent Publication No. 57-35653 (1982). This method will be described with reference to FIG. 3. Referring to FIG. 3, when the strip-like vibrator elements #1 to #5 among the n elements of the ultrasonic probe 1 are excited, the ultrasonic pulse beam is transmitted along an axis T₁ (shown by the one-dot chain line) passing through the center of the excited element group. Then, when the echo reflected in a direction R₁ is received by the elements #1 to #5, and the echo reflected in another direction R₂ is received by the elements #1 to #6, the wave receiver has directivities in the two directions. Therefore, the wave receiver has overall transmission and reception directivities in two directions TR₁ and TR₂.

According to a second method, the same element group transmits and receives ultrasonic wave, and the received signal is applied to two receiver phasing circuits having different directivities, as disclosed in, for example, Japanese Patent Publication No. 56-20017 (1981). This method will be described with reference to FIG. 4. Referring to FIG. 4, strip-like vibrator elements #1 to #5 are connected to delay circuits τ_(A1) to τ_(A5) and delay circuits τ_(B1) to τ_(B5) respectively. The delay circuits τ_(A1) to τ_(A5) are connected to an adder 200, and the delay circuits τ_(B1) to τ_(B5) are connected to another adder 200'. Delay times of the individual delay circuits τ_(A1) to τ_(A5) (or τ_(B1) to τ_(B5)) correspond to time differences of the ultrasonic wave coming from a point A (or B) to arrive at the individual elements #1 to #5 respectively. That is, the delay times of the individual delay circuits τ_(A1) to τ_(A5) (or τ_(B1) to τ_(B5)) are such that, when an ultrasonic signal reflected from the point A (or B) enters the individual elements #1 to #5, the output signals of the delay circuit τ_(A1) to τ_(A5) (or τ_(B1) to τ_(B5)) have the same phase at the input terminals of the adder 200 (or 200'). Thus, the two groups of the same receiving elements can provide directivities in two directions.

FIG. 5 illustrates a mode of image display where the scanning region covers an angle of 50°, the number of scanning lines per screen image is 50, the depth of an internal moving part of a living body to be diagnosed is 100 mm, and the frame rate is 15 frames per second. When the aforementioned parallel reception scheme is applied to such an image display mode, the required number of times of transmission of an ultrasonic pulse beam into the living body is 25 corresponding to 25 scanning lines shown by solid lines in FIG. 5. Therefore, when the scanning region, the number of scanning lines and the depth of diagnosis in the case of a prior art manner of diagnosis are the same as those described above, the image completion time can be shortened to about 1/2 of that required hitherto. This means that the frame rate can be increased to 30 frames per second which is about two times as large as the prior art value.

Also, when the scanning region, the depth of diagnosis and the frame rate are the same as those of the case illustrated in FIG. 5, the number of scanning lines can be increased to about two times or 100 per screen image as shown in FIG. 6.

Also, when the number of scanning lines, the depth of diagnosis and the frame rate are the same as those of the case shown in FIG. 5, the scanning region can be increased to about two times or 100° as illustrated in FIG. 7. Further, when the scanning region, the number of scanning lines and the frame rate are the same as those shown in FIG. 5, the depth of diagnosis can be almost doubled or increased to 200 mm.

It can be summarized from the above description that employment of the parallel reception scheme provides the following advantages:

(1) When the number of scanning lines is fixed,

1. the frame rate can be improved, and

2. the depth of diagnosis can be increased.

(2) When the number of scanning lines is changed,

1. the scanning line density can be increased, and

2. the scanning region can be widened.

Thus, when the parallel reception scheme is applied under the same condition as that shown in the right-hand half or solid-line portion A of FIG. 9, the number of scanning lines per screen image can be increased to 64, and the image obtained due to the effect described in (2)-1 is displayed by solid lines and broken lines as shown in the left-hand half B of FIG. 9. Therefore, the resolution is high enough to attain successful measurement of the speed distribution of a deepest internal moving part of a living body, and an image displaying the speed distribution of the internal moving part, which is effective for accurate diagnosis, can be provided.

How a signal subjected to a Doppler shift by a high-speed internal moving part such as blood flow is extracted from a received ultrasonic signal will now be described in detail.

According to the embodiment of the present invention, the 2-channel double-cancel complex signal cancellers with feedback 102, 102', 103 and 103', which are one form of multi-channel multiple-cancel complex signal cancellers with feedback, are provided so that a Doppler component carrying information of the speed of an internal moving part of a living body, such as, blood flow, can only be extracted from a received signal, and reflected signal components from an internal stationary part and a low-speed internal moving part of the living body, which provide a serious obstacle against measurement of the speed of the blood flow, can be removed.

Before describing the operation of the double-cancel complex signal cancellers with feedback, the operation of a single-cancel complex signal canceller without feedback will be described with reference to FIG. 10.

Referring to FIG. 10, the single-cancel complex signal canceller without feedback includes a delay line 122 and a subtractor 124. The delay line 122 has a delay time equal to one period (T) of the repetition frequency of an ultrasonic signal and may be, for example, a memory or a shift register composed of memory elements the number of which is equal to the number of clock pulses appearing in one period T. The subtractor 124 is connected to the delay line 122, and, in the subtractor 124, the difference between an input of the delay line 122 (that is, a signal applied at the present time) and an output of the delay line 122 (that is, a signal applied at the time which is one period before the present time) at the same diagnosis depth is sequentially computed. The relation between the input E_(i) and the output E_(o) is given by the following expression (11):

    E.sub.o =E.sub.i (e.sup.-PT -1)                            (11)

where P=jw (w: angular velocity).

The result of frequency analysis of the demodulated ultrasonic signal, that is, the input of the canceller is shown in FIG. 13. It will be seen in FIG. 13 that frequency components B₁ to B₄ of a signal reflected from an internal organ of a living body, such as, a low-speed moving part, for example, the wall of the heart, or a stationary part exist together with frequency components A₁ to A₄ of a Doppler shift frequency signal reflected from a high-speed moving part such as blood flow. The frequency components B₁ and B₄ of the signal reflected from an internal organ such as the wall of the heart, which is not perfectly stationary, have a certain width in the vicinity of the repetition frequency.

FIG. 12 shows at C the speed response of an ideal canceller which completely removes frequency components of a signal reflected from a low-speed moving part or a stationary part of a living body and which extracts only the frequency component of a signal Doppler-shifted by a high-speed moving part such as blood flow. When the frequency components of the canceller input signal are as shown in FIG. 13, the output of the ideal canceller includes frequency components A_(o1) to A_(o4) as shown in FIG. 14. It will be seen in FIG. 14 that signal components of a signal reflected from an internal organ of a living body such as a low-speed moving part, for example, the wall of the heart, or a part considered to be stationary, are completely removed. On the other hand, the output of the single-cancel complex signal canceller shown in FIG. 10 includes frequency components A₁₁ to A₁₄ and B₁₁ to B₁₄ as shown in FIG. 14. Thus, the frequency components B₁ to B₄ shown in FIG. 13 cannot be sufficiently removed.

FIG. 11 shows the structure of one form of the double-cancel complex signal cancellers with feedback 102, 102', 103 and 103' employed in the embodiment of the present invention. Referring to FIG. 11, the double-cancel complex signal canceller with feedback includes delay lines 112 and 113, subtractors 113, 11 and 116, an adder 117, a first feedback loop 118 for subtracting the output of the delay line 113, multiplied by the factor of K₁, from the input E_(i) of the subtractor 114, and a second feedbaok loop 119 for adding the output of the delay line 113, multiplied by the factor of K₂, to the input E₂ of the adder 117. The relation between the input E_(i) and the output E_(o) of the canceller is given by the following expression (12): ##EQU2## where Z=e^(PT), P=jw (w: angular velocity), and ##EQU3##

The speed response of the double-cancel complex signal canceller is as shown by the curve B in FIG. 12.

It will be seen from the expression (12) that the speed response is changed by changing the values of K₁ and K₂. For example, when K₁ and K₂ are both zero, the speed response is as shown by curve B' in FIG. 12. Therefore, when the values of K₁ and K₂ are suitably selected to provide the speed response of desired range, the desired range of the Doppler frequency shift to be displayed can be changed, and reflected frequency components fom a low-speed moving part or a stationary pat of a living body can be removed.

Referring to FIG. 12, the width of the concave portion of the speed response of the single-cancel complex signal canceller without feedback below a certain response level P is P₁, and that of the double-cancel complex signal canceller with feedback is P₂. It will be seen in FIG. 12 that the width of the concave portion of the speed respons of the double-cancel complex signal canceller with feedback is smaller than that of the single-cancel complex signal canceller without feedback, so that even a low-speed blood flow component can be detected. The problem inherent in the double-cancel complex signal canceller with feedback is that two delay line circuits are required resulting in an increased number of data writing. However, the frame rate can be improved by employment of the aforementioned parrallel reception scheme so that the problem described above can be solved.

When the frequency components of the input signal of the double-cancel complex signal canceller with feedback are as shown in FIG. 13, the output signal of the canceller includes frequency components A₂₁ to A₂₄ and B₂₁ to B₂₄ as shown in FIG. 14. When this output is compared with the output (A₁₁ to A₁₄, B₁₁ to B₁₄) of the single-cancel complex signal canceller without feedback and the output (A₀₁ to A₀₄) of the ideal canceller, the following relations are obtained:

    A.sub.li <A.sub.2i ≈A.sub.oi

    B.sub.1i >B.sub.2i ≈O

where i=1 to 4. Therefore, the operation of the double-cancel complex signal canceller with feedback is more analogous or close to that of the ideal canceller than the single-cancel complex signal canceller without feedback, so that the double-cancel complex signal canceller with feedback can effectively remove reflected signal components from a low-speed moving part and a stationary part of living body and permits passage therethrough of signal components Doppler-shifted by blood flow.

FIG. 15 shows in detail the structure of the double-cancel complex signal canceller with feedback shown in FIG. 11.

Referring to FIG. 15, the canceller includes the subtractors 114, 115 and 116, the adder 117, selectors 118 and 119, an external control circuit 120, memory RAMs (random access memory), and latches RC1 TO RC6. In the structure shown in FIG. 15, the random access memory RAMs are delay lines 112 and 113 having the delay time equal to the period T, and the selectors 118 and 119 are used to provide the feedback loops multiplying the output of the latch RC5 by factors of K₁ and K₂ respectively and feeding back the results of multiplication to the adder 117 and subtractor 114 respectively. The amounts of feedback are controlled by the external control circuit 120 which may include a switch. In the embodiment of the present invention, signals of two channels from the parallel receiver phasing circuits 4 and 5 are demodulated by the demodulation signals having the phase difference of 90°, and a total of four demodulated signals are applied to the cancellers 102, 102' 103 and 103' respectively. In each of the cancellers, the latches RC1 and RC6 are disposed at the canceller input and output respectively, and the synchronizing circuit 11 controls the timing of latching the signal, the timing of writing and reading the signal in and out of the memory RAMs and the timing of latching the input and output of the memory RAMs. In this manner, the four demodulated signals are processed in the cancellers 102, 102', 103 and 103' respectively.

It will be understood from the foregoing detailed description that the present invention provides the following advantages:

(1) In an ultrasonic diagnosis apparatus which can display a two-dimensional image of the distribution of the speed of an internal moving part of a living body by the ultrasonic pulse-Doppler method, a parallel ultrasonic-wave reception scheme is employed to shorten the image completion time thereby providing at least one of or the combination of the following advantages 1 to 4:

1. The frame rate an be increased. Therefore, flickering of a displayed image can be minimized.

2. The scanning line density can be increased. Therefore, a more detailed image of the distribution image of the distribution of the speed of an internal moving part of a living body can be displayed.

3. The scanning region can be widened. Therefore, the region of diagnosis can be extended to cover a wider area.

4. The depth of diagnosis can be increased. This is effective for displaying an image of the distribution of the speed of, for example, blood flow along the major axis of the heart.

(2) By the provision of double-cancel complex signal cancellers with feedback, reflected signal components from, for example, a low-speed moving part such as the wall of the heart and/or a stationary part can be sufficiently removed so that blood flow moving at a speed higher than a predetermined speed can be detected with a sufficient signal intensity.

(3) By virtue of the advantage (2), the speed response of the canceller for a blood flow signal indicative of blood flow moving at a speed higher than a predetermined setting becomes sufficiently flat, so that the speed operator can accurately compute the speed sitribution of the blood flow in the living body.

(4) When the values of K₁ and K₂ in the expressing the relation between the input and the output of the double-cancel complex signal canceller described in (2) are suitably selected to provide any desired speed response, the range of the Doppler frequency shift to be displayed can be changed as desired.

(5) By the provision of the 2-channel level difference correcting circuits for correcting errors of the received signals due to the reception sensitivity difference between the parallel receiving and phasing devices, a tomographic image of good quality substantially free from an image defect and an image of the speed distribution of an internal moving part of a living body can be displayed.

(6) By virtue of the advantages (1), (2), (3), (4) and (5), a greater number of information can be obtained for the diagnosis of an internal organ of a living body, so that the accuracy of diagnosis can be greatly improved.

While a preferred embodiment of the present invention has been described in detail by way of example, it is aparent that the present invention is in no way limited to such a specific embodiment, and many changes and modifications may be made therein without departing from the subject matter thereof.

For example, although a 2-direction (2-channel) parallel reception scheme has been referred to in the aforementioned embodiment, by way of example, a 3-direction (3-channel) or a multi-direction (multi-channel) parallel reception scheme may be employed when so required. Further, although the 2-channel double-cancel complex signal cancellers with feedback have been referred to in the aforementioned embodiment, by way of example, multiple-cancel cancellers such as triple-cancel or quadruple-cancel cancellers may be employed, and also, multi-channel cancellers such as 3-channel or 4-channel cancellers may be employed. 

We claim:
 1. An ultrasonic diagnosis apparatus for displaying the distribution of moving speed of an internal part of a living body in a two-dimensional mode, comprising:(a) means for transmitting a plurality of ultrasonic pulse beams toward an internal moving part of a living body at a constant repetition frequency and for receiving the reflected wave of each of said ultrasonic pulse beams from the internal moving part of the living body, said transmitting means including an array of vibrator elements; (b) parallel receiving and phasing means having a plurality of directivities for simultaneously receiving and phasing the reflected wave of each of said ultrasonic pulse beams along a plurality of directions from said living body and for providing received wave signals indicative thereof; (c) converting means for mixing the received and phased reflected wave signals having plural directivities with a set of complex reference signals having a frequency n times (n: an integer) as high as the constant repetition frequency of the transmitted ultrasonic pulse beam and having a complex relation therebetween, thereby converting each of the received wave signals into complex signals; (d) a plurality of autocorrelator means for delaying the complex signals and for computing the autocorrelations of the complex signals; (e) a plurality of speed operator means for computing the speed of the internal moving part of the living body in each of said directions of said received wave signals on the basis of the computed autocorrelations and providing result signals indicative thereof; (f) picture processing means for processing the computed result signals of said speed operator means to produce a two-dimensional mode picture; and (g) a display means for displaying the two-dimensional picture provided by said picture processing means.
 2. An ultrasonic diagnosis apparatus according to claim 1, wherein the number of each of said converting means, autocorrelator means and speed operator means provided to process the output signal from said parallel receiving and phasing means is equal to the number of said reception directivities of said receiving and phasing means.
 3. An ultrasonic diagnosis apparatus according to claim 1, wherein said apparatus further comprises means for processing the output signals of said parallel receiving and phasing means as an ultrasonic B-mode image, and for providing said B-mode image to said display means.
 4. An ultrasonic diagnosis apparatus according to claim 1, wherein said apparatus further comprises means for compensating a signal level difference between a plurality of inputs therto, said compensating means including means for effecting a first weighting operation between first and second signals received in parallel at first and second ones of said inputs, means for effecting a second weighting operation between said second signal and a third signal received successive to said first signal at said first input, and means for providing the results of said weighting operations at a plurality of outputs, said means for compensating being coupled between said parallel receiving means and said picture processing means such that said received wave signals are compensated for level differences therebetween.
 5. An ultrasonic diagnosis apparatus for displaying of distribution of moving speed of an internal part of a living body in a two-dimensional mode, comprising:(a) means for transmitting a plurality of ultrasonic pulse beams toward an internal moving part of a living body at a constant repetition frequency and receiving the reflected wave of each of said ultrasonic pulse beams from the internal moving part of the living body, said transmitting means comprising an array of vibrator elements; (b) parallel receiving and phasing means having a plurality of reception directivities for simultaneously receiving and phasing the reflected wave of each of said ultrasonic pulse beams along a plurality of directions from said living body and for providing received wave signals indicative thereto; (c) converting means for mixing the received and phased reflected wave signals having plural directivities with a set of complex reference signals having a frequency n times (n: an integer) as high as the constant repetition frequency of the transmitted ultrasonic pulse beam and having a complex relation therebetween, thereby converting each of the receive wave signals into complex signals; (d) multi-channel multiple-cancel complex signal canceller means with feedback for receiving said complex signals, said signal cancelling means being provided in number according to the number of complex signals for removing signal components reflected from a low-speed moving part and a stationary part of the living body contained in said converted complex signals of said received wave signals; (e) a plurality of autocorrelator means for delaying each of the complex signals from said signal canceller means and for computing the autocorrelations of the complex signals; (f) speed operator means for computing the speed of the internal moving part of the living body in each of said directions of said received wave signals on the basis of the computed autocorrelations and providing result signals indicative thereof; (g) picture processing means for processing the computed result signals of said speed operator means to produce a two-dimensional mode picture; and (h) a display means for displaying the two-dimensional mode picture produced by said picture processing means.
 6. An ultrasonic diagnosis apparatus according to claim 5, wherein said apparatus further comprises means for processing the output signals of said parallel receiving and phasing means as an ultrasonic B-mode image, and for providing said B-mode image to said display means.
 7. An ultrasonic diagnosis apparatus according to claim 5, wherein said apparatus further comprises means for compensating a signal level difference between a plurality of inputs thereto, said compensating means including means for effecting a first weighting operation between first and second signals received in parallel at first and second ones of said inputs, means for effecting a second weighting operation between said second signal and a third signal received successive to said first signal at said first input, and means for providing the results of said weighting operations at a plurality of outputs, said means for compensating being coupled between said parallel receiving means and said picture processing means such that said received wave signals are compensated for level differences therebetween. 